• CN:11-2187/TH
  • ISSN:0577-6686

›› 2010, Vol. 46 ›› Issue (15): 8-16.

• 论文 • 上一篇    下一篇

面向可避障域的移动操作机运动规划解析方法

黄博;赵建文;姚玉峰;孙立宁   

  1. 哈尔滨工业大学机器人技术与系统国家重点实验室
  • 发布日期:2010-08-05

Analytical Approach for the Motion Planning of Mobile Manipulator upon the Obstacle Avoidance Region

HUANG Bo;ZHAO Jianwen;YAO Yufeng;SUN Lining   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology
  • Published:2010-08-05

摘要: 针对传统避障运动规划方法求解时间较长且不能保证避障充分性的不足,从移动平台与串联手臂联合避障的角度出发,通过整体自运动分析和障碍分类来求解可避障区域,进而得到一种移动操作机避障运动规划的新方法。对环境模型、障碍物、操作机关节轴线分布的几何特征进行分析,在此基础上结合8自由度轮式移动操作机自运动的特点,建立典型操作环境下障碍物的可回避性判据,利用此判据求解移动平台的可避障区域,进而面向可避障区域完成移动操作机的运动规划。该方法将空间避障对应的三维搜索问题转化为平面解析问题与一维搜索问题的叠加,虽然还不是一种纯解析方法,但较传统的数值优化方法大大减少了计算量,且保证了避障的充分性。试验结果验证了方法的可行性。

关键词: 避障, 路径规划, 移动操作机器人, 运动规划

Abstract: In view of the drawbacks of expensive time cost and insufficient obstacle avoidance, a novel approach for motion planning of mobile manipulator is proposed from the perspective of mobile manipulator and series arm, which solves the obstacle-avoidance-region through self-motion analysis and obstacle classification. The geometrical characteristics of environment model, obstacle and manipulator’s axis are deeply analyzed, and then the criterion for obstacle avoidance is established with the self-motion characteristic of mobile manipulator. Furthermore, the obstacle-avoidance-region is solved according to the obtained criterion, and the motion planning can be accomplished in the light of obstacle-avoidance-region. By this approach, the spatial obstacle avoidance problem can be transformed into the superposition of a plane analytical problem and a one dimensional search problem. Although this approach is not purely an analytical solution, it greatly decreases the computing complexity and ensures the sufficiency for obstacle avoidance compared to the traditional numerical method. The practicability of this method is verified by the given experimental results.

Key words: Mobile manipulator, Motion planning, Obstacle avoidance, Path planning

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